System and method of calibrating an optical sensor mounted on board of a vehicle

ABSTRACT

One embodiment provides a method for calibrating an optical sensor mounted on board of a vehicle, including the steps of: positioning the vehicle in a test station; arranging a projection surface for images or videos opposite the test station; identifying the type of optical sensor; selecting in a memory an image or video associated with the type of optical sensor; projecting the image or video selected onto the projection surface; and adjusting the position of the optical axis of the optical sensor starting from the projected image or video. Other aspects are described and claimed.

CLAIM FOR PRIORITY

This application claims priority to European Application No. 18178983.5,which was filed on Jun. 21, 2018, the contents of which are fullyincorporated by reference herein.

FIELD

The subject matter described herein relates to a system and method ofcalibrating an optical sensor mounted on board of a vehicle.

BACKGROUND

Over recent years, the attention of those developing the safety of motorvehicles has extended from the traditional passive safety systems(airbags, seat belts, impact resistance, etc.) to advanced active safetysystems, known to specialists as ADAS (Advanced Driver AssistanceSystems).

ADAS systems are electronic driving assistance systems for vehicles thatsupport the driver for the purpose of increasing safety and/or drivingcomfort. Such systems have been classified into six levels according tothe degree of autonomy, as indicated below:

-   -   Level 0 (no automation): the driver is in charge of all the        driving aspects, even when he/she is facilitated by the systems        installed on board of the vehicle.    -   Level 1 (driver assistance): in some situations the vehicle can        accelerate, brake or steer autonomously, but the driver must be        ready at all times to regain control of the vehicle.    -   Level 2 (partial automation): the vehicle has full control of        the accelerator, brake and steering, but the driver must still        monitor the surrounding environment.    -   Level 3 (conditioned automation): the vehicle has full control        of the accelerator, brake, steering and monitoring of the        environment, but the driver must be ready to intervene if        required by the system.    -   Level 4 (high automation): the automatic system is able to        handle any event, but must not be activated in extreme driving        conditions such as in bad weather.    -   Level 5 (complete automation): the automatic driving system is        able to handle all driving situations; there is no longer any        need for intervention by a human driver.

Currently, the most advanced vehicles are equipped with level 3 systems.The objective over coming years is to reach level 5 in most of thevehicles on the roads.

By way of example, ADAS systems that are already widespread includeadaptive cruise control, automatic full-beam headlamp adjustment,automatic headlamp orientation, automatic parking system, navigationsystem with traffic information, night vision system, blind spotmonitor, frontal collision warning system, automatic emergency braking,etc.

At technological level, ADAS systems are based on a plurality of sensors(television cameras, radar, Lidar, etc.) able to detect differentinformation that can possibly be used as the input data for a smartalgorithm that oversees the degree of autonomy of the vehicle.

Before the vehicle is placed on the market, the sensors are calibrateddirectly by the manufacturer. For example, the initial calibration of atelevision camera is performed through a simulation environmentspecifically provided by the manufacturer in which the television camerais placed opposite a monitor onto which settable dynamic scenarios areprojected (e.g. a pedestrian crossing the road).

After the vehicle has been placed on the market, the sensors arecalibrated periodically (e.g. when the vehicle is serviced) or afterexceptional events (e.g. replacement of the sensor following a defect,damage or breakdown warning).

BRIEF SUMMARY

In summary, one aspect provides a calibration system that calibrates anoptical sensor mounted on board of a vehicle, comprising: a test stationconsisting of a horizontal or inclined support zone for supporting thevehicle; a projection surface for images or videos, said projectionsurface being located in front of said test station; at least one memorycontaining a plurality of images and/or videos archived by type ofoptical sensor; a calibration unit for calibrating the optical sensorconfigured to adjust the position of the optical axis of said opticalsensor; and a control unit which, in response to a signal representingthe type of said optical sensor, is configured to: search in said memoryfor at least one image or video archived in association with the type ofsaid optical sensor; command the projection onto said projection surfaceof the image or video found in said memory or a processed version ofsaid image or said video; interface with said calibration unit; andadapt or deform the image or video found in said memory to the size ofthe projection surface.

Another aspect provides a method of calibrating an optical sensormounted on board of a vehicle, comprising the steps of: positioning thevehicle in a test station consisting of a horizontal or inclined supportzone for supporting the vehicle; arranging a projection surface forimages or videos in front of said test station; identifying the type ofsaid optical sensor; selecting in a memory an image or video associatedwith the type of said optical sensor; adapting or deforming the image orvideo selected in said memory (6) to the size of the projection surface;projecting the image or video selected or the adapted or deformedversion thereof onto said projection surface; and adjusting the positionof the optical axis of said optical sensor starting from said projectedimage or video.

The foregoing is a summary and thus may contain simplifications,generalizations, and omissions of detail; consequently, those skilled inthe art will appreciate that the summary is illustrative only and is notintended to be in any way limiting.

For a better understanding of the embodiments, together with other andfurther features and advantages thereof, reference is made to thefollowing description, taken in conjunction with the accompanyingdrawings. The scope of the invention will be pointed out in the appendedclaims.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 schematically illustrates a system of calibrating an opticalsensor mounted on board of a vehicle, according to an embodiment;

FIG. 2 and FIG. 3 illustrate the reciprocal arrangement of a vehicle inthe test station and a projection surface of the calibration system ofFIG. 1, in a perspective view, in which the projection surface projectsa pattern and a video, respectively;

FIG. 4 schematically illustrates the communication between a scan tooland a calibration unit of the calibration system of FIG. 1.

DETAILED DESCRIPTION

It will be readily understood that the components of the embodiments, asgenerally described and illustrated in the figures herein, may bearranged and designed in a wide variety of different configurations inaddition to the described example embodiments. Thus, the following moredetailed description of the example embodiments, as represented in thefigures, is not intended to limit the scope of the embodiments, asclaimed, but is merely representative of example embodiments.

Reference throughout this specification to “one embodiment” or “anembodiment” (or the like) means that a particular feature, structure, orcharacteristic described in connection with the embodiment is includedin at least one embodiment. Thus, the appearance of the phrases “in oneembodiment” or “in an embodiment” or the like in various placesthroughout this specification are not necessarily all referring to thesame embodiment.

Furthermore, the described features, structures, or characteristics maybe combined in any suitable manner in one or more embodiments. In thefollowing description, numerous specific details are provided to give athorough understanding of embodiments. One skilled in the relevant artwill recognize, however, that the various embodiments can be practicedwithout one or more of the specific details, or with other methods,components, materials, et cetera. In other instances, well knownstructures, materials, or operations are not shown or described indetail to avoid obfuscation.

Two types of calibration are currently performed in the aftermarket:static and dynamic.

Static calibration is performed in a closed environment (generally theworkshop) through a portable device—known in the sector as a “scantool”—connected to the vehicle's EOBD (European On Board Diagnostic)diagnostic socket and using specific target panels for each type ofsensor (e.g. photo camera, radar, Lidar, etc.) usually placed on thefront of the stationary vehicle (they can also be positioned on the sideor the rear of the vehicle). An example of such a calibration method isproposed in patent US 2013/0325252.

The main criticality of the static calibration methods known to date isconnected with the wide variety of parameters at stake. As everymanufacturer requires ad hoc calibration settings for each vehicle modeland for each type of sensor, workshops are generally affiliated to onlysome manufacturers, for which they must be equipped with the relatedtarget panels (numerous ones as they differ in terms of shape, size andpattern).

Furthermore, to guarantee reliable calibration, it is essential toguarantee the correct transverse and longitudinal alignment of thetarget panels with respect to the vehicle. At each calibration, thepanel alignment step takes a long time.

The movement of the panels also requires special care to prevent damageand breakages. In fact, the panels are made of plastic material,generally forex, and have a significant extension with respect to thethickness, which is reduced (usually max 5 mm).

Furthermore, static calibration cannot take place outdoors as there mustbe a well defined contrast of the panels.

For some types of vehicles, static calibration is not sufficient but anon-road test is required.

In that case, dynamic calibration methods are applied, i.e. performedwhile driving the vehicle. Two scenarios are possible:

-   -   dynamic calibration performed automatically by the vehicle        systems while a generic driver is driving,    -   dynamic calibration using a scan tool connected to the vehicle's        EOBD diagnostic socket for performing specific calibration        procedures established by the manufacturer, performed by an        authorized repairer.

A first limit of dynamic calibration is connected with the fact that itmust be performed under good weather conditions, with the clear planningdifficulties of the time scales. A second limit is connected with theneed to provide paths with determined characteristics (horizontalsignage, vertical signage, etc.) for performing the calibration.

Furthermore, during dynamic calibration the vehicle could haveunexpected reactions (precisely due to calibration errors), which putthe driver's safety at risk.

The aftermarket calibration methods known to date (static and dynamic)require long performance times to guarantee the reliability of theresults.

From US 2018/100783 it is already known a calibration system for opticalsensors using a screen or other projection surface disposed within thefield of view of an optical sensor system onboard a vehicle.

From WO 2018/067354 it is disclosed an ADAS calibration supportstructure in which it is possible to project indicia on a screen and tocorrect parallax distortion by means of mechanical rotation of a laseremitter.

From WO 2014/192347 it is also known an inspection system for an opticalsensor.

In U.S. Pat. No. 9,247,222 a projection display for images is disclosed,that may be applied to a vehicle.

In DE 10 2006060 553 there is disclosed a method for testing a motorvehicle driver assistance system.

In this context, the technical task underpinning an embodiment is toprovide a system and method of calibrating an optical sensor mounted onboard of a vehicle, that obviate the above-cited drawbacks.

In particular, it an embodiment provides a universal system ofcalibrating an optical sensor mounted on board of a vehicle, i.e. thatcan be used for the sensors of any vehicle, regardless of themanufacturer, the specific model and the ADAS system being implementedand, at the same time, more reliable and compact with respect to knownsolutions.

An embodiment provides a method for calibrating an optical sensormounted on board of a vehicle that can be performed in a shorter timeand more easily with respect to the calibration methods known to date.

A further embodiment provides a system and method of calibrating anoptical sensor mounted on board of a vehicle, which are reliablyapplicable also to vehicles that normally require an on-road test, i.e.dynamic calibration.

The stated technical task are substantially achieved by a system ofcalibrating an optical sensor mounted on board of a vehicle, comprising:

-   -   a test station for the stationary vehicle;    -   a projection surface for images or videos, which is located in        front of the test station;    -   at least one memory containing a plurality of images and/or        videos archived by type of optical sensor;    -   a calibration unit for calibrating the optical sensor configured        to adjust the position of the optical axis of the optical        sensor;    -   a control unit which, in response to a signal representing the        type of the optical sensor, is configured to:        -   search in the memory for at least one image or video            archived in association with the type of optical sensor;        -   command the projection onto the projection surface of the            image or video found in the memory or a processed version of            the image or video;        -   interface with the calibration unit.

In accordance with one embodiment, the control unit is also configuredto determine, in response to the signal representing the type of opticalsensor, a spatial position of the projection surface with respect to theoptical sensor mounted on board of the vehicle arranged in the teststation.

In accordance with one embodiment, the control unit is also configuredto adapt or deform the image or video found in the memory to thedimensions of the projection surface, in response to the signalrepresenting the type of optical sensor.

In accordance with one embodiment, the calibration system furthercomprises a screen or monitor located in front of the test station, theprojection surface being the display of said monitor.

In accordance with one embodiment, the calibration system furthercomprises a television set, said monitor being the monitor of saidtelevision set.

In accordance with one embodiment, the calibration system furthercomprises a multimedia interactive board, said monitor being the monitorof the multimedia interactive board.

In accordance with one embodiment, the calibration system furthercomprises a computer, said monitor being the monitor of the computer.

In accordance with one embodiment, the projection surface is obtainedfrom a sheet made of PVC.

In accordance with one embodiment, the calibration system furthercomprises a projector or a luminous board, said control unit beingconfigured to command the projector or luminous board to project theimage or video found in the memory onto the projection surface.

Preferably, in response to the signal representing the type of opticalsensor, the control unit is configured to project a set of parameters orinitial calibration conditions onto said projection surface.

Preferably, the calibration system also comprises an automatic means foradjusting the spatial position of the projection surface with respect tothe test station.

The stated technical task and specified objects are substantiallyachieved by a method of calibrating an optical sensor mounted on boardof a vehicle, comprising the steps of:

-   -   positioning the vehicle in a test station;    -   arranging a projection surface for images or videos in front of        said test station;    -   identifying the type of optical sensor;    -   selecting in a memory an image or video associated with the type        of said optical sensor;    -   projecting the image or video selected or a processed version        thereof onto the projection surface;    -   adjusting the position of the optical axis of the optical sensor        starting from said projected image or video.

In accordance with one embodiment, the calibration method furthercomprises a step of determining, according to the type of opticalsensor, a spatial measurement position that the projection surface mustassume with respect to the optical sensor during calibration.

In accordance with one embodiment, the calibration method furthercomprises a step of adapting or deforming the image or video selectedbased on the size of the projection surface and the distance from theoptical sensor.

Further characteristics and advantages will become more apparent fromthe indicative and thus non-limiting description of a preferred, but notexclusive, embodiment of a system and method of calibrating an opticalsensor mounted on board of a vehicle, as illustrated in the accompanyingdrawings.

With reference to the figures, the number 1 indicates a system ofcalibrating an optical sensor 2 mounted on board of a vehicle 100, inparticular a motor vehicle such as an automobile, a bus, a lorry, a roadtractor, a tractor trailer, an articulated lorry, a farm machinery, aworking vehicle, a self-propelled vehicle, etc.

For example, the optical sensor 2 is a CMOS or CCD type sensor of atelevision camera installed on the vehicle 100.

The calibration system 1 preferably comprises:

-   -   a test station 3 for the stationary vehicle 100;    -   a projection surface 4 for projecting images or videos.

In particular, the test station 3 consists of a horizontal or inclinedsupport zone for supporting the vehicle 100.

The stationary vehicle 100 is arranged in the test station 3 accordingto techniques and with means of the known type, which are not thesubject matter this disclosure.

The projection surface 4 is arranged in front of the test station 3 sothat the optical sensor 2 can acquire images or videos projected ontosuch projection surface 4.

Preferably, the projection surface 4 is rectangular shaped.

Preferably, the calibration system 1 comprises a screen or monitor,whose display constitutes the projection surface 4.

The monitor comprising the projection surface 4 may be a monitor of atelevision set 40, as illustrated in FIGS. 2 and 3.

For example, the monitor of the television set 40 may be plasma, liquidcrystal, OLED.

For example, a television set 40 can be used with a 65″ or greateranti-glare monitor.

Alternatively, the monitor comprising the projection surface 4 is themonitor of a multimedia interactive whiteboard (often indicated by theacronym IWB), or the monitor of a computer.

In accordance with another embodiment, the calibration system 1comprises a projector or a video projector or a luminous board thatprojects images or videos onto the projection surface 4, preferably madeof (polarised or lenticular) high-contrast PVC fabric.

For example, the projection surface 4 is the surface of a fabric sheetwhich when unrolled and taut, must have a planarity of +/−2 millimetresper linear metre. Preferably, the fabric is opaque white so as to have agood contrast.

The calibration system 1 comprises a control unit 5 which receives atleast one input signal (indicated as S1) representing the type ofoptical sensor 2. In response to such signal S1, the control unit 5 isconfigured for:

-   -   selecting an image or a video in a memory 6;    -   commanding the projection onto the projection surface 4 of the        image or video selected or a processed version thereof.

In particular, the memory 6 is part of the calibration system 1 andcontains a plurality of images and/or videos archived by type of opticalsensor.

In fact, on board of the vehicle 100, different television cameras,stereo pairs etc. can be installed. Each of such devices has opticalsensors of different types that together form an ADAS system. Above all,according to the manufacturer and the model, the vehicle 100 has its ownADAS system, therefore each optical sensor requires ad hoc calibration.

The selection of the image or video by the control unit 5 is performedby searching in the memory 6 for at least one image or video that isarchived in association with the type of that particular optical sensor2 subject to calibration.

For example, the image projected onto the projection surface 4 canreproduce the shape, size and pattern of a target panel for thecalibration of a specific optical sensor.

In the case of a video, it is possible to display a real dynamicscenario or a simulated one, which reproduces an on-road test of thevehicle.

For example, the control unit 5 is housed in a portable device 20(generally known in the sector as a scan tool) which can be connected tothe vehicle's 100 EOBD diagnostic socket 31.

The memory 6 can be housed in the same portable device 20.

Alternatively, it may be the computer memory, or an external memory(e.g. USB memory connectible directly to the television set 40).

If the projection surface 4 is composed of the fabric sheet, then thecontrol unit 5 is configured to command the projector or video projectoror luminous board to project the image or video onto such projectionsurface 4.

Preferably, in a preliminary step it is necessary to configure thecalibration system 1. For this reason, the control unit 5 is configuredto project onto the projection surface 4 a set of parameters or initialcalibration conditions, in response to the signal S1 representing thetype of optical sensor 2.

The calibration of the optical sensor 2, meaning the adjustment of theposition of the optical axis, takes place by a calibration unit 30 thatinterfaces with the control unit 5. The calibration unit 30 ispreferably part of the vehicle's 100 electronic control unit and itinterfaces with the control unit 5 of the scan tool 20 through theconnection to the EOBD diagnostic socket 31.

In accordance with one embodiment, the control unit 5 is also configuredto determine a spatial position of the projection surface 4 with respectto the optical sensor 2 mounted on board of the vehicle 100 arranged inthe test station 3. Such determination is performed based on the signalS1 representing the type of optical sensor 2.

Preferably, the calibration system 1 also comprises an automatic meansfor adjusting (i.e. regulating) the spatial position of the projectionsurface 4 with respect to the test station 3. Said adjusting means is ofthe known type and will not be described further.

This position adjustment of the projection surface 4 is usually used inthe event in which the vehicle 100 is placed on a horizontal supportsurface.

In accordance with another embodiment, the control unit 5 is alsoconfigured to process the images or videos resident in the memory 6. Inparticular, the control unit 5 is configured to adapt or deform theselected image or video to the size of the projection surface 4. Suchadaptation is performed in response to the signal S1 representing thetype of optical sensor 2.

For example, if the vehicle 100 in the test station 3 is placed on aninclined plane, the image or video is to be deformed rather thanadjusting the spatial position of the projection surface 4 with respectto the optical sensor 2.

For example, the vehicle's 100 support plane is inclined forwards by amaximum of 1° with respect to the horizontal.

Or, the vehicle's 100 support plane is inclined backwards by a maximumof 3° with respect to the horizontal.

It is also envisaged that the control unit 5 is configured to performboth a determination of the spatial position of the projection surface 4with respect to the optical sensor 2 mounted on board of the vehicle 100in the test station 3 and a deformation of the selected images orvideos.

In that case, the determination of the spatial position is rough, and isperformed from a deformed projection of the image or video.

The method of calibrating an optical sensor mounted on board of avehicle, according to an embodiment, is described below.

First of all, the vehicle 100 is parked in the test station 3, accordingto known techniques, as already mentioned above.

The projection surface 4, e.g. the display of a monitor, is arranged infront of the test station 3, in particular transverse to thelongitudinal axis AA of the vehicle 100.

The operator then connects the portable device 20 (scan tool) to theEOBD diagnostic socket 31 of the vehicle 100.

The portable device 20 has a screen 21 on which a graphical interface isdisplayed, configured to allow text or instructions to be entered by anoperator.

In particular, the operator can select the vehicle 100 to be calibrated,by choosing from different types of vehicles split into brands(manufacturers) and models.

Alternatively, the portable device 20 performs such selectionautomatically or semi-automatically, asking the operator to confirm thatthe vehicle 100 detected is the correct one.

The operator also selects the ADAS system to be calibrated, specificallythe optical sensor 2 to be calibrated. Also in this case, the selectioncan take place manually, automatically or semi-automatically.

These detection or selection steps of the vehicle 100 and of the type ofoptical sensor 2 to be calibrated are known in themselves and thereforeare not the subject matter of this disclosure.

Once the type of optical sensor 2 has been identified, the control unit5 (in the scan tool 20) can determine the spatial measurement positionthat the monitor must assume with respect to the optical sensor 2 duringcalibration.

Such determination takes place, for example, in the case of a vehicle100 placed on a horizontal support surface.

The spatial measurement position is preferably displayed in the form ofinstructions on the projection surface 4.

It is known that the mutual position of the optical sensor and itstarget (in this case the display or, in general, the projection surface)must be adjusted according to the type of optical sensor and theposition that it occupies in the vehicle 2.

Preferably, other parameters or initial calibration conditions are alsoprojected onto the projection surface 4.

The operator then manually adjusts the projection surface 4 until thelatter assumes the spatial measurement position. Alternatively, theadjustment of the position of the projection surface 4 takes placeautomatically.

Once this adjustment has been performed, the operator confirms to theportable device 20 (still through the graphical interface that can beloaded onto its screen 21) that the preliminary step has been performedand the actual calibration can take place. The operator can choosewhether to perform a calibration with a static image or a dynamic video.

The control unit 5 searches inside the memory 6 for the image (in theformer case) or the video (in the latter case) associated with the typeof optical sensor 2 to be calibrated.

The image or video selected can then be displayed on the projectionsurface 4.

Once the target (which in this case is the projection surface 4) hasbeen adjusted and the image or video has been projected, the calibrationis performed by the calibration unit 30 which communicates with the scantool 20. The actual calibration, meaning the adjustment of the positionof the optical axis of the optical sensor 2, takes place according to analgorithm of the known type.

Once the optical sensor 2 has been calibrated, the operator can easilyrepeat the aforesaid method for other optical sensors located on boardof the vehicle 100.

Alternatively to the determination of the spatial position that theprojection surface 4 must have and its subsequent adjustment, it ispossible to project a deformed image or video onto the projectionsurface 4. Such solution, used in particular when the vehicle 100 is ona horizontal support surface, is particularly advantageous because itprevents having to adjust the position of the projection surface 4.

Finally, it is also possible to adopt a combined solution, in which thespatial adjustment is performed on both the position of the projectionsurface 4 and a projection of the deformed image/video.

A similar calibration system may also be applied for the calibration ofa radar mounted on board of a vehicle, i.e. a frontal radar.

According to prior art solutions, the calibration of the frontal radaris achieved by means of a plane reflector arranged at a certain distanceD from the radar and perpendicular to the axis of the radar.

Usually, the manufacturers declare a certain tolerance ΔD range for thedistance D, i.e. D±ΔD, in the arrangement of the plane reflector withrespect to the radar.

Nevertheless, it is well-known in this field that a deviation, even of afew degrees, in the orthogonal arrangement of the plane reflector withrespect to the radar results in failure of the calibration.

Applying to the frontal radar a system and the method similar proposedherewith for the optical sensor, the user simply place the planereflector in front of the radar at the distance D recommended by themanufacturer, then he inserts the relevant distances obtained by meansof laser meters, and the system calculates the magnitude of the anglethat the plane reflector needs to be rotated. Furthermore, the systemindicates to the user whether and of which amount the plane reflectorshall slide right or left in order to be centred with respect to theradar.

In practice, in the calibration of a radar, the radar substitutes theoptical sensor 2, while the plane reflector substitutes the projectionsurface 4.

The characteristics and the advantages of the system and method ofcalibrating an optical sensor mounted on board of a vehicle, accordingto an embodiment, are clear, as are the advantages.

In particular, the use of a surface onto which the images are projectedprevents the storage or delicate handling in the workshop of numeroustarget panels having different shapes, sizes and patterns.

In the solution using a screen, e.g. of a television set, thecalibration system proposed herein further allows a contrast to beachieved that is also compatible with use in an open environment.

Furthermore, the screen also allows videos that reproduce real dynamicor simulated scenarios to be projected. Therefore, even for staticcalibration (i.e. with the vehicle stationary), comparable performancelevels are obtained to those of dynamic calibration, which can thereforebe prevented for vehicles which usually required an on-road test.Preventing the on-road test simplifies planning (connected with weatherand road conditions) and prevents risks for the driver.

The method and system proposed can also be used in the event ofinclination of the vehicle (within certain limits) because it issufficient to suitably deform the image/video to be projected onto thescreen instead of performing the spatial adjustment of the screen withrespect to the vehicle.

In addition, in case of calibration of the radar, the user may save upto 20 minutes times for each vehicle.

As will be appreciated by one skilled in the art, various aspects may beembodied as a system, method or device program product. Accordingly,aspects may take the form of an entirely hardware embodiment or anembodiment including software that may all generally be referred toherein as a “circuit,” “module” or “system.” Furthermore, aspects maytake the form of a device program product embodied in one or more devicereadable medium(s) having device readable program code embodiedtherewith.

It should be noted that the various functions described herein may beimplemented using instructions stored on a device readable storagemedium such as a non-signal storage device that are executed by aprocessor. A storage device may be, for example, a system, apparatus, ordevice (e.g., an electronic, magnetic, optical, electromagnetic,infrared, or semiconductor system, apparatus, or device) or any suitablecombination of the foregoing. More specific examples of a storagedevice/medium include the following: a portable computer diskette, ahard disk, a random access memory (RAM), a read-only memory (ROM), anerasable programmable read-only memory (EPROM or Flash memory), anoptical fiber, a portable compact disc read-only memory (CD-ROM), anoptical storage device, a magnetic storage device, or any suitablecombination of the foregoing. In the context of this document, a storagedevice is not a signal and “non-transitory” includes all media exceptsignal media.

Program code embodied on a storage medium may be transmitted using anyappropriate medium, including but not limited to wireless, wireline,optical fiber cable, RF, et cetera, or any suitable combination of theforegoing.

Program code for carrying out operations may be written in anycombination of one or more programming languages. The program code mayexecute entirely on a single device, partly on a single device, as astand-alone software package, partly on single device and partly onanother device, or entirely on the other device. In some cases, thedevices may be connected through any type of connection or network,including a local area network (LAN) or a wide area network (WAN), orthe connection may be made through other devices (for example, throughthe Internet using an Internet Service Provider), through wirelessconnections, e.g., near-field communication, or through a hard wireconnection, such as over a USB connection.

Example embodiments are described herein with reference to the figures,which illustrate example methods, devices and program products accordingto various example embodiments. It will be understood that the actionsand functionality may be implemented at least in part by programinstructions. These program instructions may be provided to a processorof a device, a special purpose information handling device, or otherprogrammable data processing device to produce a machine, such that theinstructions, which execute via a processor of the device implement thefunctions/acts specified.

It is worth noting that while specific blocks are used in the figures,and a particular ordering of blocks has been illustrated, these arenon-limiting examples. In certain contexts, two or more blocks may becombined, a block may be split into two or more blocks, or certainblocks may be re-ordered or re-organized as appropriate, as the explicitillustrated examples are used only for descriptive purposes and are notto be construed as limiting.

As used herein, the singular “a” and “an” may be construed as includingthe plural “one or more” unless clearly indicated otherwise.

This disclosure has been presented for purposes of illustration anddescription but is not intended to be exhaustive or limiting. Manymodifications and variations will be apparent to those of ordinary skillin the art. The example embodiments were chosen and described in orderto explain principles and practical application, and to enable others ofordinary skill in the art to understand the disclosure for variousembodiments with various modifications as are suited to the particularuse contemplated.

Thus, although illustrative example embodiments have been describedherein with reference to the accompanying figures, it is to beunderstood that this description is not limiting and that various otherchanges and modifications may be affected therein by one skilled in theart without departing from the scope or spirit of the disclosure.

What is claimed is:
 1. A calibration system that calibrates an opticalsensor mounted on board of a vehicle, comprising: a test stationconsisting of a horizontal or inclined support zone for supporting thevehicle; a projection surface for images or videos, said projectionsurface being located in front of said test station; at least one memorycontaining a plurality of images and/or videos archived by type ofoptical sensor; a calibration unit for calibrating the optical sensorconfigured to adjust the position of the optical axis of said opticalsensor; and a control unit which, in response to a signal representingthe type of said optical sensor, is configured to: search in said memoryfor at least one image or video archived in association with the type ofsaid optical sensor; command the projection onto said projection surfaceof the image or video found in said memory or a processed version ofsaid image or said video; interface with said calibration unit; andadapt or deform the image or video found in said memory to the size ofthe projection surface.
 2. The calibration system according to claim 1,further comprising a screen or monitor located in front of said teststation, said projection surface being the display of said monitor. 3.The calibration system according to claim 2, further comprising atelevision set, said monitor being the monitor of said television set.4. The calibration system according to claim 2, further comprising amultimedia interactive board, said monitor being the monitor of themultimedia interactive board.
 5. The calibration system according toclaim 2, further comprising a computer, said monitor being the monitorof the computer.
 6. The calibration system according to claim 1, whereinsaid projection surface is obtained from a sheet made of PVC.
 7. Thecalibration system according to claim 1, further comprising a projectoror a luminous board, said control unit being configured to command theprojector or luminous board to project the image or video found in saidmemory onto said projection surface.
 8. The calibration system accordingto claim 1 wherein, in response to the signal representing the type ofsaid optical sensor, said control unit is configured to project a set ofparameters or initial calibration conditions onto said projectionsurface.
 9. The calibration system according to claim 8, furthercomprising a projector or a luminous board, said control unit beingconfigured to command the projector or luminous board to project theimage or video found in said memory onto said projection surface.
 10. Amethod of calibrating an optical sensor mounted on board of a vehicle,comprising the steps of: positioning the vehicle in a test stationconsisting of a horizontal or inclined support zone for supporting thevehicle; arranging a projection surface for images or videos in front ofsaid test station; identifying the type of said optical sensor;selecting in a memory an image or video associated with the type of saidoptical sensor; adapting or deforming the image or video selected insaid memory (6) to the size of the projection surface; projecting theimage or video selected or the adapted or deformed version thereof ontosaid projection surface; and adjusting the position of the optical axisof said optical sensor starting from said projected image or video.